W218 人間肩運動補助用外骨格型ロボットの開発(パワーアシスト機器)(シンポジウム : 福祉工学)

概要

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We have been developing exoskeletal robots in order to realize the human motion support (especially for physically weak people). In this paper, we propose a 2DOF exoskeletal robot to support the human shoulder motion. In this exoskeletal robot, the flexion-extension and abduction-adduction motions of shoulder are supported by activating the arm holder of the robot, which is attached to the upper arm of the human subject, using wires driven by DC motors. Fuzzy-neuro controller has been designed to control the robot according to skin surface electromyogram (EMG) signals in which intention of human subject is reflected. The proposed controller controls the flexion-extension and abduction-adduction motion of the human subject.
社団法人日本機械学会の論文
2001-08-03